Systems and methods for determining position of an object relative to a vehicle

• US 10,378,899 B2
• Filed: 09/11/2017
• Issued: 08/13/2019
• Est. Priority Date: 09/11/2017
• Status: Active Grant

• Current Assignee: Goodrich Corporation (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: Goodrich Corporation (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: Waldron, Erik L.
• Primary Examiner(s): Brushaber, Frederick M
• Application Number:
  US15/700,948
• Publication Number:
  US 20190078893A1
• Time in Patent Office: 701 Days
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01C 21/025 with the use of startrackers
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01S 3/023 Monitoring or calibrating
• CPC Class Codes: G01S 3/7867 Star trackers navigation using star trackers G01C21/025

Abstract

A method of determining position of an object using an imaging device includes imaging a celestial object using an imaging device. A difference between an expected position of the celestial object and an actual position of the celestial object is determined. Pointing of the imaging device is in-flight calibrated to improve position determining by nulling the difference between the expected position of the celestial object and the actual position of the celestial object. Systems for determining position of an object relative to a vehicle are also described.

Claims

1. A method of determining object position relative to a vehicle, comprising:

imaging a celestial object with an imaging device;

determining difference between an expected position of the celestial object and an actual position of the celestial object in the image;

calibrating pointing of the imaging device to improve position determining by nulling difference between the expected position of the celestial object and the actual position of the celestial object; and

determining position of a non-celestial object based on the calibration of the imaging device pointing.

2. The method as recited in claim 1, wherein the vehicle is an airborne vehicle, wherein the imaging is done in-flight.

3. The method as recited in claim 1, wherein the vehicle is a terrestrial or a marine vehicle, wherein imaging is done from a surface location.

4. The method as recited in claim 1, wherein the difference between the expected position and the actual position of the celestial object in the image is an in-flight calibration of imaging device pointing.

5. The method as recited in claim 4, further comprising imaging a non-celestial object with the imaging device, and determining object position using imaging device pointing.

6. The method as recited in claim 4, further comprising replacing the in-flight calibration of the imaging device pointing with a ground-based calibration of the imaging device pointing.

7. The method as recited in claim 1, further comprising receiving at least two of vehicle position, a star catalog, and a satellite ephemeris.

8. The method as recited in claim 1, further comprising alternately in-flight calibrating the imaging device and locating non-celestial objects.

9. The method as recited in claim 8, wherein in-flight calibrating the imaging device includes pointing the imaging device toward the celestial object, wherein geographically locating a non-celestial object in the vehicle environment includes pointing the imaging device toward the non-celestial object.

10. The method as recited in claim 1, wherein the determined position is a geographical position of the non-celestial object.

11. The method as recited in claim 1, wherein the celestial object is a star or an artificial satellite.

12. The system as recited in claim 1, wherein the determined position is a geographical position of the non-celestial object.

13. A system for determining position of an object relative to a vehicle, comprising:

an imaging device;

a controller operably connected to the imaging device and responsive to instructions recorded on a non-transitory machine-readable memory to;

image a celestial object with the imaging device;

determine difference between an expected position of the celestial object and an actual position of the celestial object in the image;

calibrate imaging device pointing to improve position determining by nulling difference between the expected position of the celestial object and the actual position of the celestial object, and

determine position of a non-celestial object based on the calibration of the imaging device pointing.

14. The system as recited in claim 13, wherein the imaging device is supported by an airborne vehicle, a terrestrial vehicle, or a marine vehicle.

15. The system as recited in claim 13, wherein the imaging device is fixed relative to one or more gimbals.

16. The system as recited in claim 13, wherein the controller is further responsive to the instructions to alternately in-flight calibrate the imaging device and geographically locate objects in the vehicle environment.

17. The system as recited in claim 13, wherein the controller is further responsive to the instructions to replace the in-flight calibration of the imaging device pointing with a ground-based calibration of the imaging device pointing.

18. The system as recited in claim 13, wherein the processor is further responsive to the instructions to image a non-celestial object with the imaging device, determine geographical position of a non-celestial object based on in-flight calibration of the imaging device pointing, associate a geographical position of the non-celestial object using imaging device pointing.

19. The system as recited in claim 13, wherein the imaging device includes a camera, responsive to visible or infrared illumination to image the celestial object.

20. The system as recited in claim 13, wherein the calibration is done in-flight.